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mrpt::kinematics::CKinematicChain Class Reference

Detailed Description

A open-loop kinematic chain model, suitable to robotic manipulators.

Each link is parameterized with standard Denavit-Hartenberg standard parameterization [theta, d, a, alpha].

The orientation of the first link can be modified with setOriginPose(), which defaults to standard XYZ axes with +Z pointing upwards.

See also
CPose3D

Definition at line 54 of file CKinematicChain.h.

#include <mrpt/kinematics/CKinematicChain.h>

Inheritance diagram for mrpt::kinematics::CKinematicChain:
Inheritance graph

Public Member Functions

size_t size () const
 Return the number of links.
 
void clear ()
 Erases all links and leave the robot arm empty.
 
void addLink (double theta, double d, double a, double alpha, bool is_prismatic)
 Appends a new link to the robotic arm, with the given Denavit-Hartenberg parameters (see TKinematicLink for further details)
 
void removeLink (const size_t idx)
 Removes one link from the kinematic chain (0<=idx<N)
 
const TKinematicLinkgetLink (const size_t idx) const
 Get a ref to a given link (read-only)
 
TKinematicLinkgetLinkRef (const size_t idx)
 Get a ref to a given link (read-write)
 
void setOriginPose (const mrpt::poses::CPose3D &new_pose)
 Can be used to define a first degree of freedom along a +Z axis which does not coincide with the global +Z axis.
 
const mrpt::poses::CPose3DgetOriginPose () const
 Returns the current pose of the first link.
 
template<class VECTOR >
void getConfiguration (VECTOR &v) const
 Get all the DOFs of the arm at once, returning them in a vector with all the "q_i" values, which can be interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic".
 
template<class VECTOR >
void setConfiguration (const VECTOR &v)
 Set all the DOFs of the arm at once, from a vector with all the "q_i" values, which are interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic".
 
void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &inout_gl_obj, mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t *out_all_poses=NULL) const
 Constructs a 3D representation of the kinematic chain, in its current state.
 
void update3DObject (mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t *out_all_poses=NULL) const
 Read getAs3DObject() for a description.
 
void recomputeAllPoses (mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &poses, const mrpt::poses::CPose3D &pose0=mrpt::poses::CPose3D()) const
 Go thru all the links of the chain and compute the global pose of each link.
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

Private Attributes

std::vector< mrpt::opengl::CRenderizablePtrm_last_gl_objects
 Smart pointers to the last objects for each link, as returned in getAs3DObject(), for usage within update3DObject()
 
std::vector< TKinematicLinkm_links
 The links of this robot arm.
 
mrpt::poses::CPose3D m_origin
 The pose of the first link.
 

RTTI stuff <br>

typedef CKinematicChainPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CKinematicChain
 
static mrpt::utils::TRuntimeClassId classCKinematicChain
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CKinematicChainPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 57 of file CKinematicChain.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::kinematics::CKinematicChain::_GetBaseClass ( )
staticprotected

◆ addLink()

void mrpt::kinematics::CKinematicChain::addLink ( double  theta,
double  d,
double  a,
double  alpha,
bool  is_prismatic 
)

Appends a new link to the robotic arm, with the given Denavit-Hartenberg parameters (see TKinematicLink for further details)

◆ clear()

void mrpt::kinematics::CKinematicChain::clear ( )

Erases all links and leave the robot arm empty.

◆ Create()

static CKinematicChainPtr mrpt::kinematics::CKinematicChain::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::kinematics::CKinematicChain::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::kinematics::CKinematicChain::duplicate ( ) const
virtual

◆ getAs3DObject()

void mrpt::kinematics::CKinematicChain::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr inout_gl_obj,
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t *  out_all_poses = NULL 
) const

Constructs a 3D representation of the kinematic chain, in its current state.

You can call update3DObject() to update the kinematic state of these OpenGL objects in the future, since an internal list of smart pointers to the constructed objects is kept internally. This is more efficient than calling this method again to build a new representation.

Parameters
[out]out_all_posesOptional output vector, will contain the poses in the format of recomputeAllPoses()
See also
update3DObject

◆ getConfiguration()

template<class VECTOR >
void mrpt::kinematics::CKinematicChain::getConfiguration ( VECTOR &  v) const
inline

Get all the DOFs of the arm at once, returning them in a vector with all the "q_i" values, which can be interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic".

The vector is automatically resized to the correct size (the number of links).

Template Parameters
VECTORCan be any Eigen vector, mrpt::math::CVectorDouble, or std::vector<double>

Definition at line 97 of file CKinematicChain.h.

◆ getLink()

const TKinematicLink & mrpt::kinematics::CKinematicChain::getLink ( const size_t  idx) const

Get a ref to a given link (read-only)

◆ getLinkRef()

TKinematicLink & mrpt::kinematics::CKinematicChain::getLinkRef ( const size_t  idx)

Get a ref to a given link (read-write)

◆ getOriginPose()

const mrpt::poses::CPose3D & mrpt::kinematics::CKinematicChain::getOriginPose ( ) const

Returns the current pose of the first link.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::kinematics::CKinematicChain::GetRuntimeClass ( ) const
virtual

◆ readFromStream()

void mrpt::kinematics::CKinematicChain::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ recomputeAllPoses()

void mrpt::kinematics::CKinematicChain::recomputeAllPoses ( mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &  poses,
const mrpt::poses::CPose3D pose0 = mrpt::poses::CPose3D() 
) const

Go thru all the links of the chain and compute the global pose of each link.

The "ground" link pose "pose0" defaults to the origin of coordinates, but anything else can be passed as the optional argument. The returned vector has N+1 elements (N=number of links), since [0] contains the base frame, [1] the pose after the first link, and so on.

◆ removeLink()

void mrpt::kinematics::CKinematicChain::removeLink ( const size_t  idx)

Removes one link from the kinematic chain (0<=idx<N)

◆ setConfiguration()

template<class VECTOR >
void mrpt::kinematics::CKinematicChain::setConfiguration ( const VECTOR &  v)
inline

Set all the DOFs of the arm at once, from a vector with all the "q_i" values, which are interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic".

Exceptions
std::exceptionIf the size of the vector doesn't match the number of links.
Template Parameters
VECTORCan be any Eigen vector, mrpt::math::CVectorDouble, or std::vector<double>

Definition at line 114 of file CKinematicChain.h.

References ASSERT_EQUAL_.

◆ setOriginPose()

void mrpt::kinematics::CKinematicChain::setOriginPose ( const mrpt::poses::CPose3D new_pose)

Can be used to define a first degree of freedom along a +Z axis which does not coincide with the global +Z axis.

◆ size()

size_t mrpt::kinematics::CKinematicChain::size ( ) const
inline

Return the number of links.

Definition at line 68 of file CKinematicChain.h.

◆ update3DObject()

void mrpt::kinematics::CKinematicChain::update3DObject ( mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t *  out_all_poses = NULL) const

Read getAs3DObject() for a description.

Parameters
[out]out_all_posesOptional output vector, will contain the poses in the format of recomputeAllPoses()

◆ writeToStream()

void mrpt::kinematics::CKinematicChain::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CKinematicChain

mrpt::utils::CLASSINIT mrpt::kinematics::CKinematicChain::_init_CKinematicChain
staticprotected

Definition at line 57 of file CKinematicChain.h.

◆ classCKinematicChain

mrpt::utils::TRuntimeClassId mrpt::kinematics::CKinematicChain::classCKinematicChain
static

Definition at line 57 of file CKinematicChain.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::kinematics::CKinematicChain::classinfo
static

Definition at line 57 of file CKinematicChain.h.

◆ m_last_gl_objects

std::vector<mrpt::opengl::CRenderizablePtr> mrpt::kinematics::CKinematicChain::m_last_gl_objects
mutableprivate

Smart pointers to the last objects for each link, as returned in getAs3DObject(), for usage within update3DObject()

Definition at line 60 of file CKinematicChain.h.

◆ m_links

std::vector<TKinematicLink> mrpt::kinematics::CKinematicChain::m_links
private

The links of this robot arm.

Definition at line 62 of file CKinematicChain.h.

◆ m_origin

mrpt::poses::CPose3D mrpt::kinematics::CKinematicChain::m_origin
private

The pose of the first link.

Definition at line 63 of file CKinematicChain.h.




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